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Transition to standard smart pointers, part 8 #3142

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merged 5 commits into from
Jun 11, 2019
Merged

Transition to standard smart pointers, part 8 #3142

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e2badb4
Switch to std::shared_ptr for local variables and non-api members
taketwo Jun 10, 2019
63eb0bd
Use pcl::IndicesPtr in surface and segmentation
taketwo Jun 10, 2019
c238481
Use Ptr type aliases where possible in io/
taketwo Jun 10, 2019
37a2225
Use auto and reset to avoid explicit shared_ptr
taketwo Jun 10, 2019
12ea223
Avoid using boost::make_shared in cpc_segmentation
taketwo Jun 11, 2019
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2 changes: 1 addition & 1 deletion io/src/davidsdk_grabber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -371,7 +371,7 @@ pcl::DavidSDKGrabber::processGrabbing ()
{
pcl::PolygonMesh::Ptr mesh;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
boost::shared_ptr<pcl::PCLImage> image;
pcl::PCLImage::Ptr image;

fps_mutex_.lock ();
frequency_.event ();
Expand Down
30 changes: 15 additions & 15 deletions io/src/oni_grabber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@ ONIGrabber::getFramesPerSecond () const

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
ONIGrabber::imageCallback(boost::shared_ptr<openni_wrapper::Image> image, void*)
ONIGrabber::imageCallback(openni_wrapper::Image::Ptr image, void*)
{
if (num_slots<sig_cb_openni_point_cloud_rgb> () > 0 ||
num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
Expand All @@ -265,7 +265,7 @@ ONIGrabber::imageCallback(boost::shared_ptr<openni_wrapper::Image> image, void*)

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
ONIGrabber::depthCallback(boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void*)
ONIGrabber::depthCallback(openni_wrapper::DepthImage::Ptr depth_image, void*)
{
if (num_slots<sig_cb_openni_point_cloud_rgb> () > 0 ||
num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
Expand All @@ -287,7 +287,7 @@ ONIGrabber::depthCallback(boost::shared_ptr<openni_wrapper::DepthImage> depth_im

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
ONIGrabber::irCallback(boost::shared_ptr<openni_wrapper::IRImage> ir_image, void*)
ONIGrabber::irCallback(openni_wrapper::IRImage::Ptr ir_image, void*)
{
if (num_slots<sig_cb_openni_point_cloud_i > () > 0 ||
num_slots<sig_cb_openni_ir_depth_image > () > 0)
Expand All @@ -301,7 +301,7 @@ ONIGrabber::irCallback(boost::shared_ptr<openni_wrapper::IRImage> ir_image, void

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
ONIGrabber::imageDepthImageCallback(const boost::shared_ptr<openni_wrapper::Image> &image, const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image)
ONIGrabber::imageDepthImageCallback(const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
{
// check if we have color point cloud slots
if (point_cloud_rgb_signal_->num_slots () > 0)
Expand All @@ -322,7 +322,7 @@ ONIGrabber::imageDepthImageCallback(const boost::shared_ptr<openni_wrapper::Imag

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
ONIGrabber::irDepthImageCallback(const boost::shared_ptr<openni_wrapper::IRImage> &ir_image, const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image)
ONIGrabber::irDepthImageCallback(const openni_wrapper::IRImage::Ptr &ir_image, const openni_wrapper::DepthImage::Ptr &depth_image)
{
// check if we have color point cloud slots
if (point_cloud_i_signal_->num_slots() > 0)
Expand All @@ -337,7 +337,7 @@ ONIGrabber::irDepthImageCallback(const boost::shared_ptr<openni_wrapper::IRImage

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<pcl::PointXYZ>::Ptr
ONIGrabber::convertToXYZPointCloud(const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image) const
ONIGrabber::convertToXYZPointCloud(const openni_wrapper::DepthImage::Ptr& depth_image) const
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud <pcl::PointXYZ>);

Expand Down Expand Up @@ -401,14 +401,14 @@ ONIGrabber::convertToXYZPointCloud(const boost::shared_ptr<openni_wrapper::Depth

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<pcl::PointXYZRGB>::Ptr ONIGrabber::convertToXYZRGBPointCloud (
const boost::shared_ptr<openni_wrapper::Image> &image,
const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const
const openni_wrapper::Image::Ptr &image,
const openni_wrapper::DepthImage::Ptr &depth_image) const
{
static unsigned rgb_array_size = 0;
static boost::shared_array<unsigned char> rgb_array((unsigned char*)nullptr);
static unsigned char* rgb_buffer = nullptr;

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > cloud(new pcl::PointCloud<pcl::PointXYZRGB> ());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

cloud->header.frame_id = rgb_frame_id_;
cloud->height = depth_height_;
Expand Down Expand Up @@ -485,14 +485,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr ONIGrabber::convertToXYZRGBPointCloud (

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr ONIGrabber::convertToXYZRGBAPointCloud (
const boost::shared_ptr<openni_wrapper::Image> &image,
const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const
const openni_wrapper::Image::Ptr &image,
const openni_wrapper::DepthImage::Ptr &depth_image) const
{
static unsigned rgb_array_size = 0;
static boost::shared_array<unsigned char> rgb_array((unsigned char*)nullptr);
static unsigned char* rgb_buffer = nullptr;

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> > cloud (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);

cloud->header.frame_id = rgb_frame_id_;
cloud->height = depth_height_;
Expand Down Expand Up @@ -568,10 +568,10 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr ONIGrabber::convertToXYZRGBAPointCloud (
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<pcl::PointXYZI>::Ptr ONIGrabber::convertToXYZIPointCloud(const boost::shared_ptr<openni_wrapper::IRImage> &ir_image,
const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const
pcl::PointCloud<pcl::PointXYZI>::Ptr ONIGrabber::convertToXYZIPointCloud(const openni_wrapper::IRImage::Ptr &ir_image,
const openni_wrapper::DepthImage::Ptr &depth_image) const
{
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > cloud(new pcl::PointCloud<pcl::PointXYZI > ());
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);

cloud->header.frame_id = rgb_frame_id_;
cloud->height = depth_height_;
Expand Down
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